title: An active endoscopic robot based on wireless power transmission and electromagnetic localization.
abstract: BACKGROUND
  Conventional endoscopes have the disadvantages of causing pain to patients because of their large dimensions and allowing incomplete inspection because of their limited power.
  
  
  METHODS
  An active inchworm-like endoscopic robot has been designed, which is based on electromagnetic localization and synthesis of magnetic field strength vectors.
  
  
  RESULTS
  The efficiency of wireless power transmission can be kept above 0.9% when the power-receiving coil is at arbitrary position and orientation. The position error of localization is < 10 mm and the average error of orientation angle is 2 degrees. When the robot moves through part of the porcine colon, images are transmitted outwards continuously at a speed of 30 fps and the temperature rise of the colon is < 1 degrees C. By simulation, the electromagnetic exposures to the human body are lower than international standards.
  
  
  CONCLUSIONS
  The endoscopic robot is a promising tool for use by doctors, although further experiments and improvements need to be done.
authors.affiliation: 820 Institute, Department of Instrument Science and Engineering, School of Electronic Information and Electrical Engineering, Shanghai Jiao Tong University, Shanghai 200240, People's Republic of China. lhw2003_yan@sjtu.edu.cn
authors.forename: Hongwei
authors.initials: H
authors.lastname: Li
authors.forename: Guozheng
authors.initials: G
authors.lastname: Yan
authors.forename: Guanying
authors.initials: G
authors.lastname: Ma
mesh_terms: D000818:Animals; D053705:Capsule Endoscopes; D053704:Capsule Endoscopy / Q000379:methods*; D003113:Colonoscopy / Q000379:methods; D003952:Diagnostic Imaging / Q000295:instrumentation / Q000379:methods; D004574:Electromagnetic Fields; D004867:Equipment Design; D008904:Miniaturization; D012371:Robotics / Q000295:instrumentation* / Q000379:methods; D013552:Swine; D020535:Video-Assisted Surgery / Q000295:instrumentation / Q000379:methods